Rotate snapping a bone between two vertices
IF you are animating this process you can create a IK bone constraint on the bone.
Snap the 3d cursor to the v0 location
Add a second bone in edit mode to be your target for the IK constraint. &quot;target&quot;
Snap the &quot;target&quot; bone to the vertex1 (edit mode on the cube, snap 3d cursor, pose mode snap target bone to 3d cursor).
Now you have a min-snap rig- that will drive your bone you want to animate and you can bake the animation down when you are done or leave the IK constraint on.